Yup. It gets more involved once you start adding DNS and SSL. But if you’re ok typing IPs and you’re not opening your firewall to the public, it’s all you really need.

All you need is Wireguard with IP forwarding allowed on the host, maybe some firewall rules if you have one. You configure your wire guard client to only route traffic for your network IPs. I leave my wire guard client connected 100% of the time.